PCL学习（二）常见图形的可视化

代码

• 球

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1, 1, 1);
    pcl::PointXYZ ball;
    ball.x = 1.0;
    ball.y = 0;
    ball.z = 0;
    viewer.addSphere (ball, 10, "sphere", 0);   
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 立方体

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.addCube(0, 0.1, 0, 0.1, 0, 0.1, 1, 0, 0, "cube", 0); 
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 圆形

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    pcl::ModelCoefficients circle_coeff;
    circle_coeff.values.resize(3);
    circle_coeff.values[0] = 1;
    circle_coeff.values[1] = 1;
    circle_coeff.values[2] = 1;
    viewer.addCircle(circle_coeff, "circle", 0);
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 直线

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    pcl::PointXYZ p1, p2, p3, p4;
    p1.x = 0; p1.y = 0; p1.z = 0;
    p2.x = 1; p2.y = 0; p2.z = 0;
    viewer.addLine(p1, p2, 0, 1, 0, "line1", 0);
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 矩形

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    pcl::PointXYZ p1, p2, p3, p4;
    p1.x = 0; p1.y = 0; p1.z = 0;
    p2.x = 1; p2.y = 0; p2.z = 0;
    viewer.addLine(p1, p2, 0, 1, 0, "line1", 0);
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 平面

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    pcl::ModelCoefficients plane;
    plane.values.push_back(0.0);
    plane.values.push_back(0.0);
    plane.values.push_back(1.0);
    plane.values.push_back(0.0);
    viewer.addPlane(plane, "plane", 0);
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果

• 圆锥

#include <pcl/visualization/cloud_viewer.h> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    pcl::ModelCoefficients cone;
    cone.values.push_back(0);
    cone.values.push_back(0);
    cone.values.push_back(0);
    cone.values.push_back(0.0);
    cone.values.push_back(1.0);
    cone.values.push_back(0.0);
    cone.values.push_back(5.0);
    viewer.addCone(cone, "cone");
}

int main ()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::visualization::CloudViewer viewer ("My Cloud Viewer"); 
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    while (!viewer.wasStopped ())
    {
    }
    return 0;
}

效果